Biological signals have been extensively studied for disease diagnosis, treatment, and biomedical research to know the patient's health status; however, the potential of these signals goes beyond diagnosis, to the point that they can be used for more precise control of robotic devices in rehabilitation. The purpose of this article is to document a systematic review of the applications of biological signals such as EMG, EEG, and EOG for the development of these devices. The objective is to provide the researcher with a matrix that integrates the types of signals, sensors, and related components for the implementation of robotic devices in rehabilitation. As a method, different databases and specialized search engines were used to collect the information from 2019 to 2021. All the investigations found were selected, 27 being selected. Finally, it is concluded that there are different applications of biological signals for manipulation. of prostheses, orthoses, and robotic devices, which allows continuing the development of these that allow a better rehabilitation to the patient.